Control method and device of belt conveying system and belt conveying system

Abstract

The invention discloses a control method and device of a belt conveying system and the belt conveying system, and belongs to the technical field of belt conveying. A servo motor and an encoder of the belt transmission system are configured to rotate according to periods, the rotation lengths of the servo motor and the encoder in one period are equal, and the method comprises the steps that under the condition that a belt is in a running state, first rotation displacement of the servo motor rotating in one period is obtained, acquiring a second rotation displacement of the encoder in a period; based on the first rotating displacement and the second rotating displacement, the conveying displacement deviation of the belt is obtained; and under the condition that the transmission displacement deviation exceeds the allowable displacement deviation, the belt is controlled to stop running. According to the scheme, the running state of the belt can be monitored in real time, the belt is stopped in time, and the collision risk caused by slipping, tooth skipping and the like is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of belt transmission, and in particular, relates to a control method and device of a belt transmission system and a belt transmission system. Background Art

[0002] In modern automated production, belt conveyors are frequently used as a common transmission method. During belt transmission, belt slippage or tooth skipping may occur due to belt aging or uncertain mechanical reasons. Currently, the motor at the control end cannot identify faults. When problems such as belt slippage or tooth skipping occur, the control end cannot immediately stop power output, resulting in the risk of equipment collision. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a control method, device and belt transmission system for a belt transmission system, which can monitor the running status of the belt in real time, stop the belt in time, and reduce the risk of collision caused by slipping, tooth jumping and the like.

[0004] In a first aspect, the present application provides a control method for a belt transmission system, wherein the belt transmission system comprises a belt, a driving wheel, a driven wheel and a servo motor, wherein the belt is sleeved on the driving wheel and the driven wheel, the servo motor is connected to the driving wheel, the servo motor is used to drive the driving wheel to rotate, the driven wheel is provided with an encoder, the encoder is used to collect the displacement of the driven wheel, the servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal, and the method comprises:

[0005] When the belt is in a running state, obtaining a first rotation displacement of the servo motor in one cycle, and obtaining a second rotation displacement of the encoder in one cycle;

[0006] Based on the first rotational displacement and the second rotational displacement, obtaining a transmission displacement deviation of the belt;

[0007] When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, the belt is controlled to stop running.

[0008] According to the control method of the belt transmission system of the present application, by configuring the servo motor and the encoder to rotate in a cycle, a cyclic displacement comparison is performed based on the first rotational displacement of the servo motor within one cycle and the second rotational displacement of the encoder within one cycle, and a real-time transmission displacement deviation is obtained. The running status of the belt can be monitored in real time, the belt can be stopped in time, and the risk of collision caused by slipping, tooth jumping, etc. can be reduced.

[0009] According to an embodiment of the present application, the belts have at least two arranged in parallel, each of the belts is connected to a driven wheel, each driven wheel is provided with an encoder, and the transmission displacement deviation of the belts is obtained based on the first rotational displacement and the second rotational displacement, including:

[0010] Calculating the transmission displacement deviation between the first rotational displacement and any two of at least two of the second rotational displacements;

[0011] When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt to stop running comprises:

[0012] In the event that any of the transmission displacement deviations exceeds the allowable displacement deviation, the belt is controlled to stop running.

[0013] According to an embodiment of the present application, the calculating the transmission displacement deviation between any two of the first rotational displacement and at least two of the second rotational displacements includes:

[0014] Based on the first rotational displacement and the second rotational displacement, obtaining a first transmission displacement deviation;

[0015] Based on the two second rotational displacements, a second transmission displacement deviation is obtained;

[0016] When any of the transmission displacement deviations exceeds the allowable displacement deviation, controlling the belt to stop running comprises:

[0017] When any of the first transmission displacement deviations exceeds a first allowable displacement deviation, or when any of the second transmission displacement deviations exceeds a second allowable displacement deviation, the belt is controlled to stop running.

[0018] According to an embodiment of the present application, a rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from a zero position, the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes:

[0019] When the first rotational displacement is within the second rotational interval and the transmission displacement deviation is greater than the allowable displacement deviation, the belt is controlled to stop running.

[0020] According to an embodiment of the present application, a rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from a zero position, the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes:

[0021] When the first rotation displacement is within the first rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, controlling the belt to stop running;

[0022] The target difference is the difference between the rotation length of one cycle of the servo motor and the allowable displacement deviation.

[0023] According to an embodiment of the present application, a rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from a zero position, the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes:

[0024] When the first rotation displacement is within the third rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, controlling the belt to stop running;

[0025] The target difference is the difference between the rotation length of one cycle of the servo motor and the allowable displacement deviation.

[0026] According to one embodiment of the present application, the rotation length of one cycle of the servo motor and the encoder is equal to the conveying pitch of the belt.

[0027] In a second aspect, the present application provides a control device for a belt transmission system, the belt transmission system comprising a belt, a driving wheel, a driven wheel and a servo motor, the belt being sleeved on the driving wheel and the driven wheel, the servo motor being connected to the driving wheel, the servo motor being used to drive the driving wheel to rotate, the driven wheel being provided with an encoder, the encoder being used to collect the displacement of the driven wheel, the servo motor and the encoder being configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle being equal, the device comprising:

[0028] an acquisition module, used for acquiring a first rotation displacement of the servo motor in one cycle and acquiring a second rotation displacement of the encoder in one cycle when the belt is in a running state;

[0029] a first processing module, configured to obtain a transmission displacement deviation of the belt based on the first rotational displacement and the second rotational displacement;

[0030] The second processing module is used to control the belt to stop running when it is determined that the transmission displacement deviation exceeds the allowable displacement deviation.

[0031] According to the control device of the belt transmission system of the present application, by configuring the servo motor and the encoder to rotate in a cycle, a cyclic displacement comparison is performed based on the first rotational displacement of the servo motor within one cycle and the second rotational displacement of the encoder within one cycle, so as to obtain a real-time transmission displacement deviation. The running status of the belt can be monitored in real time, the belt can be stopped in time, and the risk of collision caused by slipping, tooth jumping, etc. can be reduced.

[0032] In a third aspect, the present application provides a belt transmission system, comprising:

[0033] A belt, a driving wheel, a driven wheel and a servo motor, wherein the belt is sleeved on the driving wheel and the driven wheel, the servo motor is connected to the driving wheel, the servo motor is used to drive the driving wheel to rotate, the driven wheel is provided with an encoder, the encoder is used to collect the displacement of the driven wheel, the servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal;

[0034] As described in the second aspect above, the control device of the belt transmission system is connected to the servo motor.

[0035] According to one embodiment of the present application, it also includes:

[0036] A coupling, the encoder is connected to the driven wheel through the coupling.

[0037] In a fourth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the control method of the belt transmission system as described in the first aspect above is implemented.

[0038] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the control method of the belt transmission system as described in the first aspect above is implemented.

[0039] In a sixth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the control method of the belt transmission system as described in the first aspect above.

[0040] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0042] Figure 1 This is one of the flow charts of the control method of the belt transmission system provided in the embodiment of the present application;

[0043] Figure 2 This is the second flow chart of the control method of the belt transmission system provided in the embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of the rotation of a servo motor in one cycle of the belt transmission system provided in an embodiment of the present application;

[0045] Figure 4 It is one of the structural schematic diagrams of the belt transmission system provided in the embodiment of the present application;

[0046] Figure 5 yes Figure 4 A partial enlarged schematic diagram of point E in the middle;

[0047] Figure 6 is a schematic structural diagram of a control device for a belt transmission system provided in an embodiment of the present application;

[0048] Figure 7 This is the second structural schematic diagram of the belt transmission system provided in the embodiment of the present application;

[0049] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0050] Reference numerals:

[0051] Belt 310, servo motor 320, encoder 330, driven wheel 340, coupling 350, driver 360,

[0052] Human-machine interface 510 , control device 600 , acquisition module 610 , first processing module 620 , second processing module 630 . DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0054] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0055] In conjunction with the accompanying drawings, the control method of the belt transmission system, the control device 600 of the belt transmission system, the electronic device and the readable storage medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0056] The control method of the belt transmission system can be applied to the belt transmission system, and can be specifically executed by hardware or software in the belt transmission system.

[0057] The belt transmission system of the embodiment of the present application includes a belt 310 , a driving pulley, a driven pulley 340 and a servo motor 320 .

[0058] like Figure 4 As shown, the belt 310 is sleeved on the driving wheel and the driven wheel 340, and the servo motor 320 is connected to the driving wheel. The servo motor 320 is used to drive the driving wheel to rotate. The rotation of the driving wheel drives the belt 310 to move, and the driven wheel 340 rotates accordingly. The rotation of the servo motor 320, the driving wheel and the driven wheel 340 remains synchronized.

[0059] It should be noted that the servo motor 320 is a high-precision actuator that converts electrical signals into displacement and angle changes. While providing power for the belt 310 , it accurately controls the rotational displacement and angle and precisely positions the movement of the belt 310 .

[0060] The servo motor 320 is connected to the driving wheel, and the servo motor 320 can collect the displacement of the driving wheel in real time; the driven wheel 340 is provided with an encoder 330, and the encoder 330 is used to collect the displacement of the driven wheel 340 in rotation.

[0061] The encoder 330 is an electromechanical device that can measure motion or position. The encoder 330 is installed on the driven wheel 340. When the driven wheel 340 rotates, the encoder 330 can collect the displacement of the driven wheel 340 in real time.

[0062] In actual implementation, Figure 5As shown, the encoder 330 can be connected to the driven wheel 340 via a coupling 350 , and the coupling 350 allows the encoder 330 and the driven wheel 340 to rotate together firmly.

[0063] The servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal.

[0064] The servo motor 320 rotates cyclically according to a certain cycle. In one cycle of the servo motor 320 , the servo motor 320 starts to rotate from the zero position, rotates a fixed length, and then returns to the zero position.

[0065] For example, Figure 3 As shown, point A is the zero position. In one cycle of the servo motor 320, the servo motor 320 starts to rotate from point A, rotates a fixed length S, and then returns to point A.

[0066] The encoder 330 rotates cyclically according to a certain cycle. In one cycle of the encoder 330, the encoder 330 starts to rotate from the zero position, rotates for a fixed length, and then returns to the zero position.

[0067] In this embodiment, the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal, and the fixed rotation length of the encoder 330 in one cycle is equal to the fixed rotation length of the servo motor 320 in one cycle.

[0068] For example, the rotation length of the servo motor 320 in one cycle is S, and the rotation length of the encoder 330 in one cycle is also S.

[0069] The control method of the belt transmission system of the embodiment of the present application can monitor the running status of the belt 310 in real time, stop the belt 310 in time, and reduce the risk of collision caused by slipping, tooth jumping, etc.

[0070] like Figure 1 As shown, the control method of the belt transmission system includes: step 110, step 120 and step 130.

[0071] Step 110 : When the belt 310 is in operation, a first rotation displacement of the servo motor 320 in one cycle is obtained, and a second rotation displacement of the encoder 330 in one cycle is obtained.

[0072] The servo motor 320 drives the driving wheel to rotate, the belt 310 is in a moving state, and the driven wheel 340 also rotates.

[0073] In this embodiment, when the belt 310 is in a moving state, the first rotational displacement of the servo motor 320 in one cycle is obtained, and the second rotational displacement of the encoder 330 in one cycle is obtained, wherein the first rotational displacement can represent the displacement information of the driving wheel, and the second rotational displacement can represent the displacement information of the driven wheel 340.

[0074] It can be understood that the servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal. Taking the rotation length of one cycle as S as an example, the displacement of the servo motor 320 in one cycle can be expressed as from 0 to S, and the displacement of the encoder 330 in one cycle can also be expressed as from 0 to S.

[0075] It should be noted that the first rotational displacement and the second rotational displacement are displacements obtained at the same time. The first rotational displacement represents the displacement of the servo motor 320 at a certain moment in a cycle, and the second rotational displacement represents the displacement of the encoder 330 at that moment in the same cycle.

[0076] Step 120 : Obtain a transmission displacement deviation of the belt 310 based on the first rotational displacement and the second rotational displacement.

[0077] In this step, a real-time position comparison is performed based on the first rotational displacement of the servo motor 320 and the second rotational displacement of the encoder 330 to obtain the transmission displacement deviation of the belt 310 during operation. The transmission displacement deviation can be used to determine whether the belt 310 is slipping, jumping teeth, etc.

[0078] Take the rotation length of one cycle as S as an example.

[0079] At time T1, the first rotation displacement of the servo motor 320 is obtained as S1, 0<S1<S; at time T1, the second rotation displacement of the encoder 330 is obtained as S2, 0<S2<S.

[0080] In this embodiment, according to S1 and S2, the transmission displacement deviation between the driving wheel and the driven wheel 340 in the belt transmission system can be determined, and it can be determined whether the belt 310 is slipping, jumping teeth, etc.

[0081] Step 130: When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running.

[0082] The allowable displacement deviation is a preset displacement deviation value that can be allowed during the movement of the belt 310 .

[0083] When the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, it indicates that the belt 310 may slip, jump teeth, etc., and the risk of collision is high. When the transmission displacement deviation of the belt 310 does not exceed the allowable displacement deviation, the surface belt 310 moves normally and the risk of collision is low.

[0084] It is understandable that different allowable displacement deviations may be set according to different transport requirements of the belt transmission system or different device models.

[0085] It should be noted that the first rotational displacement is the displacement of the servo motor 320 within one cycle, and the second rotational displacement is the displacement of the encoder 330 within one cycle. Based on the first rotational displacement and the second rotational displacement, the determined transmission displacement deviation characterizes the displacement deviation of the belt 310 within one cycle of the servo motor 320.

[0086] The servo motor 320 and the encoder 330 perform cyclic displacement comparison. In a certain cycle of the servo motor 320, if the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, the servo motor 320 is controlled to stop rotating, and the movement of the belt 310 can be stopped in time within the cycle. In the cycle, if the transmission displacement deviation does not exceed the allowable displacement deviation, the servo motor 320 can enter the next cycle of rotation, and the encoder 330 also enters the next cycle of rotation.

[0087] In the related art, the motor at the control end is unable to identify faults. When problems such as slipping or tooth jumping occur, the control end is unable to immediately stop power output, thereby creating the risk of equipment collision.

[0088] In the embodiment of the present application, the servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation length of one cycle is equal. According to the first rotational displacement of the servo motor 320 within one cycle and the second rotational displacement of the encoder 330 within one cycle, the servo motor 320 and the encoder 330 perform a cyclic displacement comparison to determine the transmission displacement deviation of the belt 310, and compare the real-time transmission displacement deviation with the allowable displacement deviation to effectively monitor the displacement deviation state of the belt 310 during operation. When the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, the servo motor 320 stops rotating, and the belt 310 stops moving, thereby reducing the risk of collision caused by slipping, tooth jumping, etc.

[0089] According to the control method of the belt transmission system provided in the embodiment of the present application, by configuring the servo motor 320 and the encoder 330 to rotate in a cycle, a cyclic displacement comparison is performed based on the first rotational displacement of the servo motor 320 within a cycle and the second rotational displacement of the encoder 330 within a cycle, and a real-time transmission displacement deviation is obtained. The running status of the belt 310 can be monitored in real time, and the belt 310 can be stopped in time to reduce the risk of collision caused by slipping, tooth jumping, etc.

[0090] In some embodiments, the rotation length of one cycle of the servo motor 320 and the encoder 330 is equal to the conveying pitch of the belt 310 .

[0091] The conveying step distance of the belt 310 may be the distance that the belt 310 can cover each time it moves or steps.

[0092] In actual implementation, the operation process of the belt 310 can be divided into the execution of multiple operation steps, and the conveying step distance is the stroke length of each operation step.

[0093] For example, the total length of the belt 310 is 10m, and the conveying step distance of the belt 310 is 1m. The workpieces to be processed can be placed on the belt 310 at intervals of 1m. The belt 310 moves forward one step each time, and can convey the workpieces to be processed a distance of 1m.

[0094] In this embodiment, the rotation length of one cycle of the servo motor 320 and the encoder 330 is equal to the conveying step of the belt 310. By comparing the displacements of the servo motor 320 and the encoder 330, the displacement deviation of the belt 310 during each running step can be monitored in real time. If the transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 can be controlled to stop running in time. If the transmission displacement deviation does not exceed the allowable displacement deviation, the belt 310 can enter the execution process of the next running step.

[0095] In the related art, the detection of whether the belt 310 is offset is mostly carried out by obtaining the displacement information of the belt 310 after completing the running step. It is impossible to detect the displacement deviation during the execution of the running step in real time. When problems such as slipping or tooth jumping occur, the power output cannot be stopped in time, and the risk of collision is high.

[0096] In the embodiment of the present application, the servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation length of one cycle of the servo motor 320 and the encoder 330 is equal to the conveying step of the belt 310. By performing cyclic displacement comparison between the servo motor 320 and the encoder 330, the displacement deviation of the belt 310 during the execution of the running step can be monitored in real time. When the transmission displacement deviation of the belt 310 exceeds the allowable displacement deviation, the belt 310 is promptly controlled to stop moving to reduce the risk of collision. When the transmission displacement deviation of the belt 310 does not exceed the allowable displacement deviation, the belt 310 can enter the execution process of the next running step to ensure the normal operation of the belt transmission system.

[0097] It should be noted that the belt transmission system may have one or more belts 310, and a servo motor 320 may be used to control the transmission of all belts 310. Each belt 310 is connected to a driven wheel 340, and each driven wheel 340 is provided with an encoder 330. The encoder 330 can collect the displacement information of the rotation of the driven wheel 340 to which it is connected.

[0098] In some embodiments, the belt transmission system has at least two belts 310 arranged in parallel, and step 120, obtaining the transmission displacement deviation of the belt 310 based on the first rotational displacement and the second rotational displacement, may include:

[0099] calculating a transmission displacement deviation between the first rotational displacement and any two of the at least two second rotational displacements;

[0100] When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt 310 to stop running includes:

[0101] In the event that any transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running.

[0102] It is understandable that two or more belts 310 are arranged in parallel and can jointly undertake the transmission or conveying task.

[0103] In this embodiment, each belt 310 is connected to a driven wheel 340, and each driven wheel 340 is provided with an encoder 330. When the belt 310 is in motion, a first rotational displacement and at least two second rotational displacements can be obtained at a certain moment.

[0104] In actual implementation, by calculating the transmission displacement deviation between the first rotational displacement and any two of the at least two second rotational displacements, at least three transmission displacement deviations of the belt 310 can be obtained. When any one of the at least three transmission displacement deviations exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, the servo motor 320 stops rotating, and the belt 310 stops moving.

[0105] For example, the belt transmission system has two belts 310 arranged in parallel.

[0106] like Figure 4 As shown, two belts 310 are arranged in parallel, each belt 310 is connected to a driven wheel 340, each driven wheel 340 is provided with an encoder 330, and the rotation length of a cycle of the servo motor 320 and the encoder 330 is S.

[0107] At time T1, the first rotational displacement of the servo motor 320 is obtained as S1, 0<S1<S; at time T1, the second rotational displacement of one encoder 330 is obtained as S2, 0<S2<S, and the second rotational displacement of the other encoder 330 is obtained as S3, 0<S3<S.

[0108] In this embodiment, the transmission displacement deviation between any two of the first rotational displacement and at least two second rotational displacements is calculated. According to S1 and S2, a transmission displacement deviation can be determined. According to S1 and S3, a transmission displacement deviation can be determined. According to S2 and S3, a transmission displacement deviation can be determined.

[0109] S1, S2 and S3 perform cyclic displacement comparison and judgment with each other. When any transmission displacement deviation exceeds the allowable displacement deviation, the servo motor 320 is controlled to stop rotating and the belt 310 stops moving, thereby reducing the risk of collision caused by slipping, tooth jumping and the like.

[0110] In some embodiments, calculating the transmission displacement deviation between any two of the first rotational displacement and the at least two second rotational displacements comprises:

[0111] Based on the first rotational displacement and the second rotational displacement, a first transmission displacement deviation is obtained;

[0112] Based on the two second rotational displacements, a second transmission displacement deviation is obtained;

[0113] In the event that any transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, including:

[0114] When any first transmission displacement deviation exceeds the first allowable displacement deviation, or any second transmission displacement deviation exceeds the second allowable displacement deviation, the belt 310 is controlled to stop running.

[0115] Among them, the first transmission displacement deviation represents the displacement deviation between the servo motor 320 and the encoder 330, that is, the displacement deviation of the belt 310 between the driving wheel and the driven wheel 340; the second transmission displacement deviation represents the displacement deviation between the two encoders 330, that is, the displacement deviation between the parallel belts 310.

[0116] For example, Figure 4 As shown, two belts 310 are arranged in parallel, each belt 310 is connected to a driven wheel 340, each driven wheel 340 is provided with an encoder 330, and the rotation length of a cycle of the servo motor 320 and the encoder 330 is S.

[0117] At time T1, the first rotational displacement of the servo motor 320 is obtained as S1, 0<S1<S; at time T1, the second rotational displacement of one encoder 330 is obtained as S2, 0<S2<S, and the second rotational displacement of the other encoder 330 is obtained as S3, 0<S3<S.

[0118] In this embodiment, a first transmission displacement deviation can be obtained according to S1 and S2, a first transmission displacement deviation can be obtained according to S1 and S3, and a second transmission displacement deviation can be obtained according to S2 and S3.

[0119] It can be understood that the first allowable displacement deviation is the displacement deviation allowed between the driving wheel and the driven wheel 340 during the preset movement of the belt 310, and the second allowable displacement deviation is the displacement deviation allowed between the parallel belts 310 during the preset movement of the belt 310. In the same belt transmission system, the first allowable displacement deviation and the second allowable displacement deviation may be different.

[0120] In the related art, parallel belts 310 are used for transmission. When problems such as tooth skipping and slipping occur in one row of belts 310, the motor at the control end cannot identify the fault, causing the parallel belts 310 to run out of sync, creating the risk of equipment collision.

[0121] In the embodiment of the present application, for two or more parallel belts 310, by comparing the first transmission displacement deviation and the first allowable displacement deviation, it is determined whether the displacement deviation of the belt 310 between the driving wheel and the driven wheel 340 exceeds the limit, and by comparing the second transmission displacement deviation and the second allowable displacement deviation, it is determined whether the displacement deviation between the parallel belts 310 exceeds the limit. The single-row belt 310 can be monitored in real time to see whether it has problems such as tooth jumping and slipping, and the parallel belts 310 can also be monitored in real time to see whether they have problems with asynchronous operation, and the servo motor 320 can be controlled to stop rotating in time, and the belt 310 can stop moving to reduce the risk of collision.

[0122] The comparison and judgment logic of the transmission displacement deviation and the allowable displacement deviation is specifically described below.

[0123] It should be noted that one rotation cycle of the servo motor 320 is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from the zero position, and the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation.

[0124] like Figure 4 As shown, point A is the zero position at the start of rotation of the servo motor 320. Counterclockwise rotation, the interval from point A to point B is the first rotation interval, the interval from point B to point C is the second rotation interval, and the interval from point C to point A is the third rotation interval.

[0125] In this embodiment, the lengths of the first rotation interval and the third rotation interval are both equal to the preset allowable displacement deviation d, the rotation length of the servo motor 320 in one cycle is S, and the length of the second rotation interval is S-2d.

[0126] In actual implementation, the first rotation displacement of the servo motor 320 during one rotation cycle may be located in any rotation interval among the first rotation interval, the second rotation interval, and the third rotation interval.

[0127] It should be noted that the transmission displacement deviation is the absolute value of the difference between the first rotational displacement and the second rotational displacement, or, for two parallel belts 310 , the transmission displacement deviation is the absolute value of the difference between the two second rotational displacements.

[0128] 1. The acquired first rotation displacement is within the second rotation interval.

[0129] In some embodiments, step 130, when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt 310 to stop running may include:

[0130] When the first rotation displacement is within the second rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation, the belt 310 is controlled to stop running.

[0131] In this embodiment, the first rotational displacement read by the servo motor 320 is within the second rotational range. When the transmission displacement deviation is greater than the allowable displacement deviation, it is judged as an out-of-limit condition and the belt 310 is controlled to stop running. When the transmission displacement deviation is less than or equal to the allowable displacement deviation, it is judged as an allowable condition and the belt transmission system can continue to operate.

[0132] For example, the rotation length of one cycle of the servo motor 320 and the encoder 330 is S, the first rotation displacement is b, the second rotation displacement is b1, and the preset allowable displacement deviation is d.

[0133] In this embodiment, the first rotational displacement is located within the second rotational interval, d≤b≤(Sd), if -d≤b1-b≤d is satisfied, it is judged that the deviation value is allowed, if b1-b<-d, or b1-b>d is satisfied, it is judged that the deviation value exceeds the limit, and the belt 310 is controlled to stop running.

[0134] Among them, b1-b<-d or b1-b>d, which can be expressed as |b1-b|>d, |b1-b| is the transmission displacement deviation, that is, the transmission displacement deviation is greater than the allowable displacement deviation.

[0135] 2. The acquired first rotational displacement is within the first rotational interval.

[0136] In some embodiments, step 130, when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt 310 to stop running may include:

[0137] When the first rotation displacement is within the first rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, the belt 310 is controlled to stop running;

[0138] The target difference is the difference between the rotation length of one cycle of the servo motor 320 and the allowable displacement deviation.

[0139] In this embodiment, the first rotational displacement read by the servo motor 320 is within the first rotational range. When the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, it is judged as an out-of-limit condition and the belt 310 is controlled to stop running. When the transmission displacement deviation is less than the allowable displacement deviation, or the transmission displacement deviation is greater than the target difference, it is judged as an allowable condition and the belt transmission system can continue to operate.

[0140] For example, the rotation length of one cycle of the servo motor 320 and the encoder 330 is S, the first rotation displacement is b, the second rotation displacement is b1, and the preset allowable displacement deviation is d.

[0141] In this embodiment, the first rotation displacement is within the first rotation interval, 0≤b<d, if 0≤b1≤d+b or S+bd≤b1≤S is satisfied, it is judged that the deviation value is allowed, if not satisfied, it is judged that the deviation value exceeds the limit.

[0142] Among them, the displacement recording range of b1 and b is 0 to S. When the conditions of 0≤b1≤d+b or S+bd≤b1≤S are not met, d+b<b1<S+bd, that is, d<b1-b<Sd, the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, the transmission displacement deviation is b1-b, b1-b is a positive number greater than 0, and the target difference is Sd.

[0143] 3. The acquired first rotation displacement is within the third rotation interval.

[0144] In some embodiments, step 130, when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt 310 to stop running may include:

[0145] When the first rotation displacement is in the third rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, the belt 310 is controlled to stop running;

[0146] The target difference is the difference between the rotation length of one cycle of the servo motor 320 and the allowable displacement deviation.

[0147] In this embodiment, the first rotational displacement read by the servo motor 320 is within the third rotational range. When the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, it is judged as an out-of-limit condition and the belt 310 is controlled to stop running. When the transmission displacement deviation is less than the allowable displacement deviation, or the transmission displacement deviation is greater than the target difference, it is judged as an allowable condition and the belt transmission system can continue to operate.

[0148] For example, the rotation length of one cycle of the servo motor 320 and the encoder 330 is S, the first rotation displacement is b, the second rotation displacement is b1, and the preset allowable displacement deviation is d.

[0149] In this embodiment, the first rotation displacement is within the third rotation interval, Sd<b≤S, if bd≤b1≤S or 0≤b1≤b+dS is satisfied, it is judged that the deviation value is allowed, if not satisfied, it is judged that the deviation value exceeds the limit.

[0150] Among them, the displacement recording range of b1 and b is 0 to S. When the conditions of bd≤b1≤S or 0≤b1≤b+dS are not met, b+dS<b1<bd, that is, dS<b1-b<-d, b1-b is a negative value, and the inequality is transformed into Sd>b-b1>d, b-b1 can be regarded as the absolute value of b1-b, b-b1 is a positive number greater than 0, and the target difference is Sd.

[0151] A specific embodiment is described below.

[0152] like Figure 2 As shown, the allowable deviation value (ie, the allowable displacement deviation) is d, the cycle length (the rotation length of the servo motor 320 and the encoder 330 in one cycle) is S, and the motor displacement b (ie, the first rotation displacement) and the encoder 330 displacement b1 (ie, the second rotation displacement) are obtained in real time.

[0153] The determination of whether the displacement deviation between the servo motor 320 and the encoder 330 exceeds the limit can be divided into the following three branches:

[0154] 1. The first rotation displacement is located in the second rotation interval.

[0155] When d≤b≤(Sd), if -d≤b1-b≤d is satisfied, it is judged that the deviation value is allowed; if b1-b<-d, or b1-b>d is satisfied, it is judged that the deviation value exceeds the limit, and the belt 310 is controlled to stop running.

[0156] 2. The first rotation displacement is located in the first rotation interval.

[0157] When 0≤b<d, if 0≤b1≤d+b or S+bd≤b1≤S is satisfied, it is judged that the deviation value is allowed; if not, it is judged that the deviation value exceeds the limit and the belt 310 is controlled to stop running.

[0158] 3. The first rotation displacement is located in the third rotation interval.

[0159] When Sd<b≤S, if bd≤b1≤S or 0≤b1≤b+dS is satisfied, it is judged that the deviation value is allowed; if not, it is judged that the deviation value exceeds the limit and the belt 310 is controlled to stop running.

[0160] The control method of the belt transmission system provided in the embodiment of the present application can be executed by the control device 600 of the belt transmission system. In the embodiment of the present application, the control device 600 of the belt transmission system executing the control method of the belt transmission system is taken as an example to illustrate the control device 600 of the belt transmission system provided in the embodiment of the present application.

[0161] The embodiment of the present application also provides a control device 600 for a belt transmission system, wherein the belt transmission system includes a belt 310, a driving wheel, a driven wheel 340 and a servo motor 320, wherein the belt 310 is sleeved on the driving wheel and the driven wheel 340, the servo motor 320 is connected to the driving wheel, the servo motor 320 is used to drive the driving wheel to rotate, the driven wheel 340 is provided with an encoder 330, the encoder 330 is used to collect the displacement of the driven wheel 340 during rotation, the servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal.

[0162] like Figure 6 As shown, the control device 600 of the belt transmission system includes:

[0163] An acquisition module 610 is used to acquire a first rotation displacement of the servo motor 320 in one cycle and to acquire a second rotation displacement of the encoder 330 in one cycle when the belt 310 is in a running state;

[0164] A first processing module 620, configured to obtain a transmission displacement deviation of the belt 310 based on the first rotation displacement and the second rotation displacement;

[0165] The second processing module 630 is used to control the belt 310 to stop running when it is determined that the transmission displacement deviation exceeds the allowable displacement deviation.

[0166] According to the control device 600 of the belt transmission system provided in the embodiment of the present application, by configuring the servo motor 320 and the encoder 330 to rotate in a cycle, a cyclic displacement comparison is performed based on the first rotational displacement of the servo motor 320 within a cycle and the second rotational displacement of the encoder 330 within a cycle, and a real-time transmission displacement deviation is obtained. The running status of the belt 310 can be monitored in real time, and the belt 310 can be stopped in time to reduce the risk of collision caused by slipping, tooth jumping, etc.

[0167] In some embodiments, there are at least two belts 310 arranged in parallel, each belt 310 is connected to a driven wheel 340, and each driven wheel 340 is provided with an encoder 330. The first processing module 620 is used to obtain the transmission displacement deviation of the belt 310 based on the first rotation displacement and the second rotation displacement, including:

[0168] calculating a transmission displacement deviation between the first rotational displacement and any two of the at least two second rotational displacements;

[0169] When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt 310 to stop running includes:

[0170] In the event that any transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running.

[0171] In some embodiments, the first processing module 620 is used to calculate the transmission displacement deviation between the first rotation displacement and any two of the at least two second rotation displacements, including:

[0172] Based on the first rotational displacement and the second rotational displacement, a first transmission displacement deviation is obtained;

[0173] Based on the two second rotational displacements, a second transmission displacement deviation is obtained;

[0174] In the event that any transmission displacement deviation exceeds the allowable displacement deviation, the belt 310 is controlled to stop running, including:

[0175] When any first transmission displacement deviation exceeds the first allowable displacement deviation, or any second transmission displacement deviation exceeds the second allowable displacement deviation, the belt 310 is controlled to stop running.

[0176] In some embodiments, a rotation cycle of the servo motor 320 is divided into a first rotation interval, a second rotation interval, and a third rotation interval connected in sequence starting from the zero position, and the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation. The second processing module 630 is used to control the belt 310 to stop running when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, including:

[0177] When the first rotation displacement is within the second rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation, the belt 310 is controlled to stop running.

[0178] In some embodiments, a rotation cycle of the servo motor 320 is divided into a first rotation interval, a second rotation interval, and a third rotation interval connected in sequence starting from the zero position, and the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation. The second processing module 630 is used to control the belt 310 to stop running when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, including:

[0179] When the first rotation displacement is within the first rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, the belt 310 is controlled to stop running;

[0180] The target difference is the difference between the rotation length of one cycle of the servo motor 320 and the allowable displacement deviation.

[0181] In some embodiments, a rotation cycle of the servo motor 320 is divided into a first rotation interval, a second rotation interval, and a third rotation interval connected in sequence starting from the zero position, and the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation. The second processing module 630 is used to control the belt 310 to stop running when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, including:

[0182] When the first rotation displacement is in the third rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, the belt 310 is controlled to stop running;

[0183] The target difference is the difference between the rotation length of one cycle of the servo motor 320 and the allowable displacement deviation.

[0184] In some embodiments, the rotation length of one cycle of the servo motor 320 and the encoder 330 is equal to the conveying pitch of the belt 310 .

[0185] The control device 600 of the belt transmission system provided in the embodiment of the present application can implement each process implemented in the above-mentioned embodiment of the control method of the belt transmission system, and will not be described again here to avoid repetition.

[0186] The embodiment of the present application also provides a belt transmission system.

[0187] The belt transmission system includes a belt 310 , a driving wheel, a driven wheel 340 , a servo motor 320 and a control device 600 of the belt transmission system as described above, and the control device 600 is connected to the servo motor 320 .

[0188] like Figure 4 As shown, the belt 310 is sleeved on the driving wheel and the driven wheel 340, and the servo motor 320 is connected to the driving wheel. The servo motor 320 is used to drive the driving wheel to rotate. The rotation of the driving wheel drives the belt 310 to move, and the driven wheel 340 rotates accordingly. The rotation of the servo motor 320, the driving wheel and the driven wheel 340 remains synchronized.

[0189] The servo motor 320 is connected to the driving wheel, and the servo motor 320 can collect the displacement of the driving wheel in real time; the driven wheel 340 is provided with an encoder 330, and the encoder 330 is used to collect the displacement of the driven wheel 340 in rotation.

[0190] In this embodiment, the servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal.

[0191] The servo motor 320 rotates cyclically according to a certain cycle. In one cycle of the servo motor 320 , the servo motor 320 starts to rotate from the zero position, rotates a fixed length, and then returns to the zero position.

[0192] For example, Figure 3 As shown, point A is the zero position. In one cycle of the servo motor 320, the servo motor 320 starts to rotate from point A, rotates a fixed length S, and then returns to point A.

[0193] The encoder 330 rotates cyclically according to a certain period. In one period of the encoder 330, the encoder 330 starts to rotate from the zero position, rotates for a fixed length, and then returns to the zero position.

[0194] In this embodiment, the rotation lengths of the servo motor 320 and the encoder 330 in one cycle are equal, and the fixed rotation length of the encoder 330 in one cycle is equal to the fixed rotation length of the servo motor 320 in one cycle.

[0195] For example, the rotation length of the servo motor 320 in one cycle is S, and the rotation length of the encoder 330 in one cycle is also S.

[0196] In some embodiments, the belt transmission system may further include a coupling 350 , through which the encoder 330 is connected to the driven wheel 340 .

[0197] In this embodiment, the encoder 330 and the driven wheel 340 may be connected via a coupling 350 , and the coupling 350 allows the encoder 330 and the driven wheel 340 to rotate securely together.

[0198] The following takes the control device 600 as a programmable logic controller (PLC) as an example.

[0199] like Figure 3 As shown, two parallel belts 310 are respectively equipped with encoders 330, such as Figure 7 As shown, the PLC controls the rotation of the servo motor 320 through the driver 360. The servo motor 320 and the encoder 330 feed back their respective displacements to the PLC in real time. The PLC calculates the transmission displacement deviation and brings it into the allowable displacement deviation set by the human-machine interface 510 to determine whether it exceeds the limit.

[0200] The servo motor 320 and the encoder 330 are configured to rotate in a cycle, and the rotation length of one cycle of the servo motor 320 and the encoder 330 is equal to the conveying pitch of the belt 310 .

[0201] The human-machine interface 510 may be a touch screen for inputting parameters such as allowable displacement deviation.

[0202] The PLC configures and controls the shafts of the servo motor 320 and the two encoders 330 , and calculates the transmission displacement deviation of the acquired first rotational displacement and second rotational displacement, thereby obtaining two first transmission displacement deviations and one second transmission displacement deviation.

[0203] The PLC compares the first transmission displacement deviation and the first allowable displacement deviation to determine whether the displacement deviation of the belt 310 between the driving wheel and the driven wheel 340 exceeds the limit. The PLC compares the second transmission displacement deviation and the second allowable displacement deviation to determine whether the displacement deviation between the parallel belts 310 exceeds the limit.

[0204] The two encoders 330 may be represented by A1 and A2, the allowable displacement deviation between the servo motor 320 and A1 is set to a1, the allowable displacement deviation between the servo motor 320 and A2 is set to a2, and the allowable displacement deviation between A1 and A2 is set to a3.

[0205] The rotation length of one cycle of the servo motor 320 and the encoder 330 is S, the first rotation displacement of the servo motor 320 is b, the second rotation displacement of A1 is b1, and the second rotation displacement of A2 is b2.

[0206] The logic for determining whether the transmission displacement deviation between the servo motor 320 and A1 exceeds the limit is as follows:

[0207] When a1≤b≤(S-a1), if -a1≤b1-b≤a1 is satisfied, it is judged that the deviation value is allowed; if b1-b<-a1, or b1-b>a1 is satisfied, it is judged that the deviation value exceeds the limit, and the belt 310 is controlled to stop running.

[0208] When 0≤b<a1, if 0≤b1≤a1+b or S+b-a1≤b1≤S is satisfied, it is judged that the deviation value is allowed; if not, it is judged that the deviation value exceeds the limit and the belt 310 is controlled to stop running.

[0209] When S-a1<b≤S, if b-a1≤b1≤S or 0≤b1≤b+a1-S is satisfied, the deviation value is judged to be allowed; if not, the deviation value is judged to be out of limit and the belt 310 is controlled to stop running.

[0210] The logic for determining whether the transmission displacement deviation between the servo motor 320 and A2 exceeds the limit is as follows:

[0211] When a2≤b≤(S-a2), if -a2≤b2-b≤a2 is satisfied, it is judged that the deviation value is allowed; if b2-b<-a2, or b2-b>a2 is satisfied, it is judged that the deviation value exceeds the limit, and the belt 310 is controlled to stop running.

[0212] When 0≤b<a2, if 0≤b2≤a2+b or S+b-a2≤b2≤S is satisfied, it is judged that the deviation value is allowed; if not, it is judged that the deviation value exceeds the limit and the belt 310 is controlled to stop running.

[0213] When S-a2<b≤S, if b-a2≤b2≤S or 0≤b2≤b+a2-S is satisfied, the deviation value is judged to be allowed; if not, the deviation value is judged to be out of limit and the belt 310 is controlled to stop running.

[0214] It can be understood that one rotation cycle of the servo motor 320 is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from the zero position, and the rotation length of the encoder 330 and the servo motor 320 in one rotation cycle is equal. One rotation cycle of the encoder 330 can also be divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from the zero position.

[0215] The logic for judging whether the transmission displacement deviation between A1 and A2 exceeds the limit is as follows:

[0216] When a3≤b1≤(S-a3), if -a3≤b2-b1≤a3 is satisfied, it is judged that the deviation value is allowed; if b2-b1<-a3, or b2-b1>a3 is satisfied, it is judged that the deviation value exceeds the limit, and the belt 310 is controlled to stop running.

[0217] When 0≤b1<a3, if 0≤b2≤a3+b1 or S+b1-a3≤b2≤S is satisfied, it is judged that the deviation value is allowed; if not, it is judged that the deviation value exceeds the limit and the belt 310 is controlled to stop running.

[0218] When S-a3<b1≤S, if b1-a3≤b2≤S or 0≤b2≤b1+a3-S is satisfied, the deviation value is judged to be allowed; if not, the deviation value is judged to be out of limit and the belt 310 is controlled to stop running.

[0219] According to the belt transmission system of the embodiment of the present application, by configuring the servo motor 320 and the encoder 330 to rotate in a cycle, a cyclic displacement comparison is performed based on the first rotational displacement of the servo motor 320 within a cycle and the second rotational displacement of the encoder 330 within a cycle, and a real-time transmission displacement deviation is obtained. The running status of the belt 310 can be monitored in real time, and the belt 310 can be stopped in time to reduce the risk of collision caused by slipping, tooth jumping, etc.

[0220] In some embodiments, Figure 8 As shown, an embodiment of the present application further provides an electronic device 800, including a processor 801, a memory 802, and a computer program stored in the memory 802 and executable on the processor 801. When the program is executed by the processor 801, each process of the control method embodiment of the above-mentioned belt transmission system is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0221] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0222] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned belt transmission system control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0223] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0224] An embodiment of the present application also provides a computer program product, including a computer program, which implements the control method of the belt transmission system when executed by a processor.

[0225] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0226] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned belt transmission system control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0227] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0228] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0229] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0230] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0231] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0232] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method for a belt transmission system, characterized in that: The belt transmission system comprises a belt, a driving wheel, a driven wheel and a servo motor, wherein the belt is sleeved on the driving wheel and the driven wheel, the servo motor is connected to the driving wheel, the servo motor is used to drive the driving wheel to rotate, the driven wheel is provided with an encoder, the encoder is used to collect the displacement of the driven wheel, the servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal, and the method comprises: When the belt is in a running state, obtaining a first rotation displacement of the servo motor in one cycle, and obtaining a second rotation displacement of the encoder in one cycle; Based on the first rotational displacement and the second rotational displacement, obtaining a transmission displacement deviation of the belt; When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, the belt is controlled to stop running.

2. The control method of the belt transmission system according to claim 1, characterized in that: The belts have at least two arranged in parallel, each of the belts is connected to a driven wheel, each driven wheel is provided with an encoder, and the transmission displacement deviation of the belts is obtained based on the first rotational displacement and the second rotational displacement, including: Calculating the transmission displacement deviation between the first rotational displacement and any two of at least two of the second rotational displacements; When it is determined that the transmission displacement deviation exceeds the allowable displacement deviation, controlling the belt to stop running comprises: In the event that any of the transmission displacement deviations exceeds the allowable displacement deviation, the belt is controlled to stop running.

3. The control method of the belt transmission system according to claim 2, characterized in that: The calculating the transmission displacement deviation between any two of the first rotational displacement and at least two of the second rotational displacements comprises: obtaining a first transmission displacement deviation based on the first rotational displacement and the second rotational displacement; Based on the two second rotational displacements, a second transmission displacement deviation is obtained; When any of the transmission displacement deviations exceeds the allowable displacement deviation, controlling the belt to stop running comprises: When any of the first transmission displacement deviations exceeds a first allowable displacement deviation, or when any of the second transmission displacement deviations exceeds a second allowable displacement deviation, the belt is controlled to stop running.

4. The control method of the belt transmission system according to claim 1, characterized in that: One rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from a zero position, the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes: When the first rotational displacement is within the second rotational interval and the transmission displacement deviation is greater than the allowable displacement deviation, the belt is controlled to stop running.

5. The control method of the belt transmission system according to claim 1, characterized in that: One rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from a zero position, the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes: When the first rotation displacement is within the first rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, controlling the belt to stop running; The target difference is the difference between the rotation length of one cycle of the servo motor and the allowable displacement deviation.

6. The control method of the belt transmission system according to claim 1, characterized in that: One rotation cycle of the servo motor is divided into a first rotation interval, a second rotation interval and a third rotation interval connected in sequence starting from a zero position, the lengths of the first rotation interval and the third rotation interval are both equal to the allowable displacement deviation, and when it is determined that the transmission displacement deviation is greater than the allowable displacement deviation, controlling the belt to stop running includes: When the first rotation displacement is within the third rotation interval and the transmission displacement deviation is greater than the allowable displacement deviation and less than the target difference, controlling the belt to stop running; The target difference is the difference between the rotation length of one cycle of the servo motor and the allowable displacement deviation.

7. The control method of the belt transmission system according to any one of claims 1 to 6, characterized in that: The rotation length of one cycle of the servo motor and the encoder is equal to the conveying pitch of the belt.

8. A control device for a belt transmission system, characterized in that: The belt transmission system comprises a belt, a driving wheel, a driven wheel and a servo motor, wherein the belt is sleeved on the driving wheel and the driven wheel, the servo motor is connected to the driving wheel, the servo motor is used to drive the driving wheel to rotate, the driven wheel is provided with an encoder, the encoder is used to collect the displacement of the driven wheel, the servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal, and the device comprises: an acquisition module, used for acquiring a first rotation displacement of the servo motor in one cycle and acquiring a second rotation displacement of the encoder in one cycle when the belt is in a running state; a first processing module, configured to obtain a transmission displacement deviation of the belt based on the first rotational displacement and the second rotational displacement; The second processing module is used to control the belt to stop running when it is determined that the transmission displacement deviation exceeds the allowable displacement deviation.

9. A belt transmission system, characterized in that: include: A belt, a driving wheel, a driven wheel and a servo motor, wherein the belt is sleeved on the driving wheel and the driven wheel, the servo motor is connected to the driving wheel, the servo motor is used to drive the driving wheel to rotate, the driven wheel is provided with an encoder, the encoder is used to collect the displacement of the driven wheel, the servo motor and the encoder are configured to rotate in a cycle, and the rotation length of the servo motor and the encoder in one cycle is equal; The control device for the belt transmission system according to claim 8, wherein the control device for the belt transmission system is connected to the servo motor.

10. The belt transmission system according to claim 9, characterized in that: Also includes: A coupling, the encoder is connected to the driven wheel through the coupling.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method of the belt transmission system as described in any one of claims 1-7 is implemented.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the belt transmission system as described in any one of claims 1 to 7 is implemented.

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